• Structural Engineering and Mechanics
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• 제30권5호
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• pp.593-602
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• 2008

This paper presents a new linearization algorithm to find the periodic solutions of the Duffing equation, under harmonic loads. Since the Duffing equation models a single degree of freedom system with a cubic nonlinear term in the restoring force, finding its periodic solutions using classical harmonic balance (HB) approach requires numerical integration. The algorithm developed in this paper replaces the integrals appearing in the classical HB method with triangular matrices that are evaluated algebraically. The computational cost of using increased number of frequency components in the matrixbased linearization approach is much smaller than its integration-based counterpart. The algorithm is computationally efficient; it only takes a few iterations within the region of convergence. An example comparing the results of the linearization algorithm with the "exact" solutions from a 4th order Runge- Kutta method are presented. The accuracy and speed of the algorithm is compared to the classical HB method, and the limitations of the algorithm are discussed.

• International Journal of Aeronautical and Space Sciences
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• 제18권4호
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• pp.740-756
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• 2017

This paper proposes a feedback-linearization-based control algorithm for multirotor unmanned aerial vehicles (UAVs). The feedback linearization scheme is highly efficient for considering nonlinearity between the rotational and translational motion of multirotor UAVs. We also propose a dynamic equation that reflects the aerodynamic effects of the vehicles; the equation's parameters can be determined through curve fitting using actual flight data. We derive the feedback linearization controller from the proposed dynamic equation, and propose a Luenberger observer to attenuate measurement noises. The proposed algorithm is implemented using our in-house flight control computer, and we describe its implementation in detail. To investigate the performance of the proposed algorithm, we carry out two flight scenarios: the first scenario, an autonomous landing on a moving platform, is a test of maneuverability; the second, picking up and replacing an object, test the algorithm's accuracy. In these scenarios, the proposed algorithm precisely controls multirotor UAVs, and we confirm that it can be successfully applied to real flight environments.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.56.5-56
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• 2002

This paper studies on the feedback linearization of the looper system for hot strip mills, where the looper system plays an important role in regulating the strip tension. Firstly, nonlinear dynamic equations of the looper system are simply introduced. Secondly, using the static feedback linearization algorithm, a linear model of the looper system is obtained, of which usefulness is validated from comparison between the linear model and the nonlinear model, and design of LQI(Linear Ouadratic Integral optimal control) and ILQ (Inverse Linear Quadratic optimal control) looper control systems. In result, it is shown that the linear looper model by the feedback linearization well describes nonlin...

• 전기학회논문지
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• 제64권4호
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• pp.578-585
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• 2015

Electromagnetic levitation system(EMLS) is one of the well known nonlinear systems. Often, it is not easy to control an EMLS due to its high nonlinearity. In this paper, we first apply two linearization method(jacobian and input-output feedback linearization) to design two feedback controllers for an EMLS. Then, by observing the advantages of each controller, we design a switching control algorithm which engage two controllers depending on the position of the steel ball in order to achieve the improved performance over each controller. The validity of our switching control approach is verified via both simulation and actual experimental results.

• Journal of Yeungnam Medical Science
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• 제16권2호
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• pp.237-243
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• 1999

연구목적: 연구목적: $^{99m}Tc$ d,l-hexamethylpropyleneamine oxime(HMPAO)와 $^{99m}Tc$ ethyl cysteinate dimer(ECD)의 뇌세포에 의한 섭취는 뇌혈류량에 비례를 한다. 그러나 뇌혈류량이 아주 높은 경우에는 뇌세포에 의한 섭취가 그 만큼 증가를 하지 않기 때문에 뇌혈류량이 과소평가 될 수 있다. 이를 보안하기 위하여 Lassen이 linearization algorithm을 만들었다. 그러나 이 방정식은 뇌의 상태에 따라 사용되는 알파값으로 표현되는 변수가 변할 수 있다. 저자들은 뇌경색이 있는 10명의 환자를 대상으로 가장 적절한 ${\alpha}$값을 구하고자 하였다. 재료 및 방법: 10명의 환자들은 모두 0.1에서 10까지의 알파값을 이용하여 교정한 $^{99m}Tc$-HMPAO와 $^{99m}Tc$-ECD 뇌관류 단일광자방출 단층촬영(single photon emission computed tomography: SPECT) 영상을 구하고, 양전자방출단층촬영술로 뇌혈류영상을 구하였다. 그리고 상호정보의 최대화에 의한 multi-modal volume registration을 이용하는 컴퓨터프로그램으로 양전자방출단층촬영술로 구한 뇌혈류와 SPECT 영상에서 다양한 알파값을 대입하여 Lassen의 linearization algorithm으로 구한 뇌혈류값을 픽셀단위로 서로 비교하였다. 결과: Lassen의 linearization algorithm을 이용하여 구한 $^{99m}Tc$-HMPAO와 $^{99m}Tc$-ECD 뇌관류 SPECT의 국소 뇌혈류량은 알파값이 각각 1.4와 2.1일때 양전자방출전산화단층촬영술로 구한 뇌혈류량과의 상관관계가 가장 높았다. 결론: Lassen의 linearization algorithm을 이용하여 뇌혈류량을 정량화하는 경우에는 $^{99m}Tc$-HMPAO의 경우는 1.4, $^{99m}Tc$-ECD의 경우는 2.1을 사용할 때 뇌혈류량을 가장 잘 반영할 것으로 생각된다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.1221-1224
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• 1996

As in most industrial processes, the dynamic characteristics of an electric power system are subject to changes. Amongst those effects which cause the system to be uncertain, faults on transmission lines are considered. For the stabilization of the power system, we present an indirect adaptive control method, which is capable of tracking a sudden change in the effective reactance of a transmission line. As the plant dynamics are nonlinear, an input-output feedback linearization method is combined with an identification algorithm which estimates the effect of a fault.

• Journal of Mechanical Science and Technology
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• 제17권11호
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• pp.1608-1615
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• 2003

This paper studies on the linearization of a looper system in hot strip mills, that plays an important role in regulating a strip tension or a strip width. Nonlinear dynamic equations of the looper system are analytically linearized by a static feedback linearization algorithm with a compensator. The proposed linear model of the looper is validated by a comparison with a linear model using Taylor's series. It is shown that the linear model by static feedback well describes nonlinearities of the looper system than one using Taylor's series. Furthermore, it is shown from the design of an ILQ controller that the linear model by static feedback is very useful in designing a linear controller of the looper system.

• 대한산업공학회지
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• 제39권4호
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• pp.253-259
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• 2013

Investment scenarios in the transportation network design problem usually contain installation or expansion of multi-mode transportation links. When one applies the mode choice analysis and traffic assignment sequentially for each investment scenario, it is possible that the travel impedance used in the mode choice analysis is different from the user equilibrium cost of the traffic assignment step. Therefore, to estimate the travel impedance and mode choice accurately, one needs to develop a combined model for the mode choice and traffic assignment. In this paper, we derive the inverse demand and the excess demand functions for the multi-mode multinomial logit mode choice function and develop a combined model for the multi-mode variable demand traffic assignment problem. Using data from the regional O/D and network data provided by the KTDB, we compared the performance of the partial linearization algorithm with the Frank-Wolfe algorithm applied to the excess demand model and with the sequential heuristic procedures.

• 한국정밀공학회지
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• 제21권10호
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• pp.127-136
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• 2004

This paper is the first of two companion papers concerning the analysis and design of a pneumatic vibration isolation system. The design optimization of the pneumatic vibration isolation system is required for the reduction of cost, endeavor and time, and it needs modeling and calculation algorithm. The nonlinear models are devised from the fluid mechanical expression for components of the system and the calculation algorithm is derived from the mathematical relationship between the models. It is shown that the orifice makes the nonlinear property of the transmissibility curve that the resonant frequency changes by the amplitude of excited vibration. Linearization of the nonlinear models is tried to reduce elapsed time and truncation error accumulation and to enable the transmissibility calculation of the system with multi damping chambers. The equivalent mechanical models generated by linearization clarify the function of each component of the system and lead to the linearized transfer function that can give forth to the transmissibility exactly close to that of nonlinear models. The modified successive under-relaxation method is developed to calculate the linearized transfer function.

• Transactions on Control, Automation and Systems Engineering
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• 제4권4호
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• pp.253-263
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• 2002

This paper presents an adaptive feedback linearization control scheme for induction motors using stator fluxes. By using stator flukes as states, overparameterization is prevented and control inputs can be determined straightforwardly unlike in existing schemes. This approach leads to the decrease of the relative degree for the flux modulus and thus yields a simpler control algorithm than the prior results. In this paper. adaptation schemes are suggested to compensate for the variations of stator resistance. rotor resistance and load torque. In particular, the adaptation to the variation of stator resistance with a feedback linearization control is a new trial. In addition, to improve the convergence of rotor resistance estimation, the differences between stator currents and its estimates are used for the parameter adaptation. The simulations show that torque and flux are controlled independently and that the estimates of stator resistance, rotor resistance, and load torque converge to their true values. Actual experiments on a 3.7㎾ induction motor verify the effectiveness of the proposed method.